Ore sorting manipulator and device

Abstract

The utility model provides an ore sorting manipulator and device, and the ore sorting manipulator comprises a fixed seat; the driving part is arranged at the top of the fixed seat; the transmission assembly is located below the fixing base, and the input end of the transmission assembly penetrates through the fixing base to be connected with the driving piece; the grabbing assembly comprises a first clamping jaw and a second clamping jaw which are symmetrically arranged on the two sides of the transmission assembly, and the top end of the first clamping jaw and the top end of the second clamping jaw are connected with the bottom of the fixing base in a pivoted mode; the conveying-out end of the transmission assembly is connected with the middle of the first clamping jaw and the middle of the second clamping jaw in a pivoted mode, and under the driving effect of the driving piece, the transmission assembly is used for driving the bottom end of the first clamping jaw to be close to or away from the bottom end of the second clamping jaw, so that switching of the grabbing assembly between the opening state and the grabbing state is achieved. The sorting efficiency can be improved, the production cost can be reduced, and the safety of workers can be ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to an ore sorting manipulator and a device. Background Art

[0002] At present, in the field of ore mining, the mined ore is often mixed with impurities, such as anchors, wire mesh, gangue, waste rock, etc. These impurities will enter the crusher with the ore, affecting the quality of the ore and causing damage to the subsequent ore processing equipment. In addition, in the process of transporting ore through conveyor belt equipment, these impurities are usually sorted by manual sorting, which not only increases labor costs, but also causes varying degrees of damage to the hands of sorters. When encountering heavier impurities, it may even take a long time to stop the machine to process the impurities, resulting in a huge waste of time and reducing the efficiency of ore mining.

[0003] In addition, there are some ore grabbing devices in the prior art, including a base and two claws respectively hinged to the base, and two driving members respectively connected to the two claws, and driven by the two driving members, the two claws can grab impurities in the ore. The ore grabbing device of this structure is relatively complex and costly, and in order to achieve stable grabbing of the two claws, the synchronization requirements of the two driving members are also high. If one of the driving members fails, or there is a difference in the output torque, output speed, etc. of the two driving members, the stable operation of the ore grabbing device cannot be ensured. Utility Model Content

[0004] In view of the above problems, an embodiment of the present utility model provides an ore sorting robot and device to solve at least one of the above problems.

[0005] In a first aspect, an embodiment of the utility model provides an ore sorting manipulator, comprising:

[0006] Fixed seat;

[0007] A driving member, arranged on the top of the fixing seat;

[0008] A transmission assembly, located below the fixing seat, with an input end passing through the fixing seat and connected to the driving member;

[0009] A gripping assembly, comprising a first claw and a second claw symmetrically arranged on both sides of the transmission assembly, wherein the top of the first claw and the top of the second claw are respectively pivotally connected to the bottom of the fixing seat;

[0010] The outgoing end of the transmission assembly is pivotally connected to the middle of the first claw and the middle of the second claw respectively. Under the driving action of the driving member, the transmission assembly is used to drive the bottom end of the first claw to approach or move away from the bottom end of the second claw to achieve the switching of the grasping assembly between the open state and the grasping state.

[0011] In some embodiments, the fixing seat is provided with a guide hole, and the transmission assembly includes:

[0012] A guide rod, matched with the guide hole, and a head end of which is connected to the driving member;

[0013] A connecting plate connected to the rear end of the guide rod;

[0014] A transmission rod has one end pivotally connected to the connecting plate, and the other end pivotally connected to the middle of the first claw and the middle of the second claw.

[0015] In some embodiments, there are multiple guide rods, and the multiple guide rods are evenly distributed along the extension direction of the connecting plate.

[0016] In some embodiments, the first claw has a first arm and a second arm that are symmetrically arranged, and a first support plate connected to the first arm and the second arm respectively;

[0017] The second clamping claw comprises a third arm and a fourth arm which are symmetrically arranged, and a second supporting plate which is respectively connected to the third arm and the fourth arm.

[0018] In some embodiments, in the grasping state, there is a gap between the first support plate and the second support plate.

[0019] In some embodiments, a mounting plate is provided at the bottom of the fixing seat, the mounting plate is provided with a mounting hole, the top of the first arm and the top of the second arm are provided with a first rotation hole, and the top of the third arm and the top of the fourth arm are provided with a second rotation hole;

[0020] The first clamping claw also has a first rotating shaft, and the second clamping claw also has a second rotating shaft. The first rotating shaft passes through the first rotating hole and the mounting hole respectively, and the second rotating shaft passes through the second rotating hole and the mounting hole respectively, so as to respectively realize the pivot connection between the first support arm, the second support arm, the third support arm, the fourth support arm and the fixed base.

[0021] In some embodiments, the transmission rod includes a first sub-rod, a second sub-rod, a third sub-rod and a fourth sub-rod, the two ends of the first sub-rod are respectively connected to the first support arm and the connecting plate, the two ends of the second sub-rod are respectively connected to the second support arm and the connecting plate, the two ends of the third sub-rod are respectively connected to the third support arm and the connecting plate, and the two ends of the fourth sub-rod are respectively connected to the fourth support arm and the connecting plate.

[0022] In some embodiments, both ends of the first sub-rod, the second sub-rod, the third sub-rod and the fourth sub-rod are provided with through holes, the middle parts of the first support arm, the second support arm, the third support arm and the fourth support arm are provided with fixing holes, and the connecting plate is provided with connecting holes;

[0023] The transmission assembly also includes a third rotating shaft and a fourth rotating shaft, the third rotating shaft cooperates with the through hole and the fixing hole respectively, and the fourth rotating shaft cooperates with the through hole and the connecting hole respectively, so as to realize the pivot connection between the first support arm, the first sub-rod, the second support arm, the second sub-rod, the third support arm, the third sub-rod, the fourth support arm, the fourth sub-rod and the connecting plate.

[0024] In a second aspect, an embodiment of the utility model further provides an ore sorting device, comprising a truss and the manipulator as described above, wherein the manipulator is arranged on the truss.

[0025] In some embodiments, the truss includes a frame body, a horizontal guide rail disposed on the frame body, a vertical guide rail perpendicular to the horizontal guide rail, and a sliding seat matched with the vertical guide rail;

[0026] The fixed seat is connected to the sliding seat so that the manipulator can move along the extension direction of the horizontal guide rail and the vertical guide rail.

[0027] Due to the adoption of the above technical solution, the technical effects achieved by the utility model are as follows:

[0028] First, the ore sorting manipulator provided by the utility model includes a fixed seat, a driving member, a transmission assembly and a grabbing assembly. Among them, the grabbing assembly includes a first claw and a second claw, the input end of the transmission assembly is connected to the driving member, and the output end is connected to the first claw and the second claw respectively. Under the drive of the driving member, the first claw and the second claw can be close to or separated in response to the transmission action of the transmission assembly, thereby realizing the switching of the grabbing assembly between the open state and the grabbing state. On the one hand, the sorting manipulator provided by the present application realizes the automatic sorting of impurities in the ore compared with the manual sorting method, which is conducive to the improvement of sorting efficiency and the reduction of production costs, and is also conducive to ensuring the safety of the staff. On the other hand, in the sorting manipulator of this structure, a driving member can realize the synchronous drive of the two claws, so as to ensure the stable grabbing of the impurities in the ore by the equipment, and to avoid the possible falling of the material due to the asynchronous action of the two claws to the greatest extent, which is conducive to the stable and reliable operation of the equipment.

[0029] Secondly, the utility model also provides an ore sorting device, including a truss and the above manipulator. Among them, the truss is provided with a horizontal guide rail and a vertical guide rail, and a sliding seat. Through the fixed connection between the sliding seat and the fixed seat, the manipulator can move along the horizontal guide rail and the vertical guide rail, which can not only grab impurities at different positions in the conveyor belt, improve the sorting accuracy and sorting efficiency of the sorting device, but also transfer the grabbed impurities to the corresponding collection device, thereby further improving the automation level of the equipment.

[0030] The above description is only an overview of the technical solution of the embodiment of the utility model. In order to more clearly understand the technical means of the embodiment of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are only used to illustrate the embodiments and are not considered to be limitations of the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0032] Figure 1 This is a structural schematic diagram of an ore sorting manipulator provided by the utility model in an open state;

[0033] Figure 2 This is a structural schematic diagram of another ore sorting manipulator provided by the utility model in an open state;

[0034] Figure 3 This is a structural schematic diagram of an ore sorting manipulator provided by the utility model in a grasping state;

[0035] Figure 4 The utility model is a structural schematic diagram of an ore sorting device provided by the utility model.

[0036] In the figure:

[0037] 100 fixing seat, 110 mounting plate;

[0038] 200 driving parts;

[0039] 300 transmission assembly, 310 guide rod, 320 connection plate, 330 transmission rod, 331 first sub-rod, 332 second sub-rod, 333 third sub-rod, 334 fourth sub-rod, 340 third rotating shaft, 350 fourth rotating shaft;

[0040] 400 grabbing assembly, 410 first clamping claw, 411 first support arm, 412 second support arm, 413 first support plate, 414 first rotating shaft, 420 second clamping claw, 421 third support arm, 422 fourth support arm, 423 second support plate, 424 second rotating shaft;

[0041] 500 trusses, 510 frames, 520 horizontal guide rails, 530 vertical guide rails, 540 sliding seats. DETAILED DESCRIPTION

[0042] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein.

[0043] Reference Figure 1-Figure 3 As shown, the embodiment of the utility model provides an ore sorting manipulator, comprising: a fixed base 100, a driving member 200, a transmission assembly 300 and a grabbing assembly 400. The driving member 200 is arranged on the top of the fixed base 100, and the transmission assembly 300 is located below the fixed base 100, and its input end passes through the fixed base 100 and is connected to the driving member 200; the grabbing assembly 400 includes a first clamping claw 410 and a second clamping claw 420 symmetrically arranged on both sides of the transmission assembly 300, and the top of the first clamping claw 410 and the top of the second clamping claw 420 are respectively pivotally connected to the bottom of the fixed base 100.

[0044] In addition, the transmission end of the transmission assembly 300 is pivotally connected to the middle of the first claw 410 and the middle of the second claw 420 respectively. Under the driving action of the driving member 200, the transmission assembly 300 is used to drive the bottom end of the first claw 410 to approach or move away from the bottom end of the second claw 420, so as to realize the switching of the grasping assembly 400 between the open state and the grasping state.

[0045] It should be noted that the driving member 200 in the present application can be a driving motor, or a driving member such as a hydraulic cylinder or a pneumatic cylinder, and the present application does not limit the specific type of the driving member 200. The transmission assembly 300 is mainly used to transmit the driving force generated by the driving member 200 to the grab assembly 400, and the transmission assembly 300 can have a variety of transmission modes, such as gear-rack transmission, sprocket-chain transmission, guide rail-slider transmission, piston rod transmission, multi-link transmission, etc. Those skilled in the art can reasonably select the best transmission structure according to the design requirements of the product, and the present application does not limit the transmission mode and specific structure of the transmission assembly 300.

[0046] In addition, the middle part of the first claw 410 and the middle part of the second claw 420 in the grabbing assembly 400 of the present application are pivotally connected to the transmission assembly 300, and the top end of the first claw 410 and the top end of the second claw 420 are pivotally connected to the bottom of the fixed base 100. This arrangement enables the first claw 410 and the second claw 420 to form a hinged structure, which is beneficial to the implementation of the grabbing action of the grabbing assembly 400.

[0047] The ore sorting manipulator provided by the utility model, on the one hand, realizes the automatic sorting of impurities in the ore compared with the manual sorting method, which is beneficial to the improvement of sorting efficiency and the reduction of production costs, and is also beneficial to ensure the safety of the staff. On the other hand, in the sorting manipulator of this structure, a driving member 200 can realize the synchronous driving of the two claws, so as to ensure the stable grasping of the impurities in the ore by the equipment, and to the greatest extent avoid the possible falling of the material due to the asynchronous action of the two claws, which is beneficial to the stable and reliable operation of the equipment.

[0048] In some embodiments, the fixing base 100 is provided with a guide hole (not marked in the figure), and the transmission assembly 300 includes a guide rod 310, a connecting plate 320 and a transmission rod 330, wherein the guide rod 310 is matched with the guide hole, and its head end is connected to the driving member 200; the connecting plate 320 is connected to the tail end of the guide rod 310, and one end of the transmission rod 330 is pivotally connected to the connecting plate 320, and the other end is pivotally connected to the middle of the first claw 410 and the middle of the second claw 420. Further, there can be multiple guide rods 310, and the multiple guide rods 310 are evenly distributed along the extension direction of the connecting plate 320.

[0049] It should be noted that the "pivot connection" described in the present application can be achieved by the cooperation of a rotating shaft and a rotating hole, or by the cooperation of a pin and a pin hole, or by a universal ball joint. The present application does not limit the specific structure of the pivot connection.

[0050] In addition, in the present application, the guide rods 310 are provided in a plurality, so that the connection plate 320 has better stability during the up and down movement, and the connection plate 320 is prevented from tilting due to insufficient strength as much as possible. Based on this, preferably, the number of guide rods 310 is configured as three, and the three guide rods 310 are respectively connected to the two sides and the middle position of the connection plate 320.

[0051] In some embodiments, reference Figure 2 As shown, the first clamping claw 410 has a first arm 411 and a second arm 412 that are symmetrically arranged, and a first support plate 413 that is respectively connected to the first arm 411 and the second arm 412; the second clamping claw 420 has a third arm 421 and a fourth arm 422 that are symmetrically arranged, and a second support plate 423 that is respectively connected to the third arm 421 and the fourth arm 422. Further, in the grasping state, there is a gap between the first support plate 413 and the second support plate 423.

[0052] The structure of the first clamping claw 410 and the second clamping claw 420, on the one hand, has a gap between the first arm 411 and the second arm 412, and between the third arm 421 and the fourth arm 422, and the gap is used to avoid ore, so that the grasping component 400 can effectively grasp the impurities in the ore; on the other hand, the gap between the first support plate 413 and the second support plate 423 forms a clamping space between the first clamping claw 410 and the second clamping claw 420, so that the impurities can be directly clamped, especially for impurities with long strip structures, it has a better clamping effect.

[0053] In some embodiments, continue to refer to Figure 1 and Figure 2 As shown, a mounting plate 110 is provided at the bottom of the fixing base 100, and a mounting hole (not marked in the figure) is opened on the mounting plate 110, and a first rotation hole (not marked in the figure) is opened at the top of the first arm 411 and the top of the second arm 412, and a second rotation hole (not marked in the figure) is opened at the top of the third arm 421 and the top of the fourth arm 422;

[0054] The first clamping claw 410 also has a first rotating shaft 414, and the second clamping claw 420 also has a second rotating shaft 424. The first rotating shaft 414 passes through the first rotating hole and the mounting hole respectively, and the second rotating shaft 424 passes through the second rotating hole and the mounting hole respectively, so as to respectively realize the pivot connection between the first arm 411, the second arm 412, the third arm 421, the fourth arm 422 and the fixed base 100.

[0055] Furthermore, the transmission rod 330 includes a first sub-rod 331, a second sub-rod 332, a third sub-rod 333 and a fourth sub-rod 334, the two ends of the first sub-rod 331 are respectively connected to the first support arm 411 and the connecting plate 320, the two ends of the second sub-rod 332 are respectively connected to the second support arm 412 and the connecting plate 320, the two ends of the third sub-rod 333 are respectively connected to the third support arm 421 and the connecting plate 320, and the two ends of the fourth sub-rod 334 are respectively connected to the fourth support arm 422 and the connecting plate 320.

[0056] Furthermore, both ends of the first sub-rod 331, the second sub-rod 332, the third sub-rod 333 and the fourth sub-rod 334 are provided with through holes (not marked in the figure), the middle parts of the first support arm 411, the second support arm 412, the third support arm 421 and the fourth support arm 422 are provided with fixing holes (not marked in the figure), and the connecting plate 320 is provided with a connecting hole (not marked in the figure);

[0057] The transmission assembly 300 also includes a third rotating shaft 340 and a fourth rotating shaft 350. The third rotating shaft 340 cooperates with the through hole and the fixing hole respectively, and the fourth rotating shaft 350 cooperates with the through hole and the connecting hole respectively to realize the pivot connection between the first arm 411, the first sub-rod 331, the second arm 412, the second sub-rod 332, the third arm 421, the third sub-rod 333, the fourth arm 422, the fourth sub-rod 334 and the connecting plate 320.

[0058] The present application realizes the connection between the first arm 411, the first sub-rod 331, the second arm 412, the second sub-rod 332, the third arm 421, the third sub-rod 333, the fourth arm 422, the fourth sub-rod 334 and the connecting plate 320 through the setting of the above-mentioned structure. The structure is simple and has a high transmission efficiency, so that the grasping assembly 400 can quickly respond to the driving force of the driving member 200, which is conducive to improving the grasping efficiency and accuracy.

[0059] In addition, refer to Figure 4 As shown, the embodiment of the utility model further provides an ore sorting device, including a truss 500 and a manipulator as described above, and the manipulator is arranged on the truss 500. In addition, the truss 500 includes a frame 510, a horizontal guide rail 520 arranged on the frame 510, a vertical guide rail 530 perpendicular to the horizontal guide rail 520, and a sliding seat 540 matched with the vertical guide rail 530; the fixed seat 100 is connected to the sliding seat 540, so that the manipulator can move along the extension direction of the horizontal guide rail 520 and the vertical guide rail 530.

[0060] The present application uses a fixed connection between the sliding seat 540 and the fixed seat 100 to enable the robot arm to move along the horizontal guide rail 520 and the vertical guide rail 530. It can not only grab impurities at different positions in the conveyor belt, thereby improving the sorting accuracy and sorting efficiency of the sorting device, but also transfer the grabbed impurities to the corresponding collection device, thereby further improving the automation level of the equipment.

[0061] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various aspects of the present invention, in the above description of the exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Among them, the claims that follow the specific embodiments are hereby expressly incorporated into the specific embodiments, wherein each claim itself serves as a separate embodiment of the present invention.

[0062] It should be noted that the above embodiments illustrate the utility model rather than limit the utility model, and those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation on the claims. The word "comprising" does not exclude the existence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the existence of multiple such elements. The utility model can be implemented by means of hardware including several different elements and by means of appropriately programmed computers. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names. The steps in the above embodiments should not be understood as limitations on the order of execution unless otherwise specified.

Claims

1. An ore sorting robot, characterized in that: include: Fixed seat; A driving member, arranged on the top of the fixing seat; A transmission assembly, located below the fixing seat, with an input end passing through the fixing seat and connected to the driving member; A gripping assembly, comprising a first claw and a second claw symmetrically arranged on both sides of the transmission assembly, wherein the top of the first claw and the top of the second claw are respectively pivotally connected to the bottom of the fixing seat; The outgoing end of the transmission assembly is pivotally connected to the middle of the first claw and the middle of the second claw respectively. Under the driving action of the driving member, the transmission assembly is used to drive the bottom end of the first claw to approach or move away from the bottom end of the second claw to achieve the switching of the grasping assembly between the open state and the grasping state.

2. The ore sorting robot according to claim 1, characterized in that: The fixing seat is provided with a guide hole, and the transmission assembly comprises: A guide rod, matched with the guide hole, and a head end of which is connected to the driving member; A connecting plate connected to the rear end of the guide rod; A transmission rod has one end pivotally connected to the connection plate, and the other end pivotally connected to the middle of the first claw and the middle of the second claw.

3. The ore sorting robot according to claim 2, characterized in that: There are multiple guide rods, and the multiple guide rods are evenly distributed along the extension direction of the connecting plate.

4. The ore sorting robot according to claim 2, characterized in that: The first clamping claw comprises a first support arm and a second support arm which are symmetrically arranged, and a first support plate which is respectively connected to the first support arm and the second support arm; The second clamping claw comprises a third arm and a fourth arm which are symmetrically arranged, and a second supporting plate which is respectively connected to the third arm and the fourth arm.

5. The ore sorting robot according to claim 4, characterized in that: In the grasping state, there is a gap between the first support plate and the second support plate.

6. The ore sorting robot according to claim 4, characterized in that: A mounting plate is provided at the bottom of the fixing seat, and a mounting hole is provided on the mounting plate. A first rotation hole is provided at the top of the first arm and the top of the second arm, and a second rotation hole is provided at the top of the third arm and the top of the fourth arm; The first clamping claw also has a first rotating shaft, and the second clamping claw also has a second rotating shaft. The first rotating shaft passes through the first rotating hole and the mounting hole respectively, and the second rotating shaft passes through the second rotating hole and the mounting hole respectively, so as to respectively realize the pivot connection between the first support arm, the second support arm, the third support arm, the fourth support arm and the fixed base.

7. The ore sorting robot according to claim 4, characterized in that: The transmission rod includes a first sub-rod, a second sub-rod, a third sub-rod and a fourth sub-rod, the two ends of the first sub-rod are respectively connected to the first support arm and the connecting plate, the two ends of the second sub-rod are respectively connected to the second support arm and the connecting plate, the two ends of the third sub-rod are respectively connected to the third support arm and the connecting plate, and the two ends of the fourth sub-rod are respectively connected to the fourth support arm and the connecting plate.

8. The ore sorting robot according to claim 7, characterized in that: Both ends of the first sub-rod, the second sub-rod, the third sub-rod and the fourth sub-rod are provided with through holes, the middle parts of the first support arm, the second support arm, the third support arm and the fourth support arm are provided with fixing holes, and the connecting plate is provided with connecting holes; The transmission assembly also includes a third rotating shaft and a fourth rotating shaft, the third rotating shaft cooperates with the through hole and the fixing hole respectively, and the fourth rotating shaft cooperates with the through hole and the connecting hole respectively, so as to realize the pivot connection between the first support arm, the first sub-rod, the second support arm, the second sub-rod, the third support arm, the third sub-rod, the fourth support arm, the fourth sub-rod and the connecting plate.

9. An ore sorting device, characterized in that: It comprises a truss and a manipulator as described in any one of claims 1 to 8, wherein the manipulator is arranged on the truss.

10. The ore sorting device according to claim 9, characterized in that: The truss comprises a frame body, a horizontal guide rail arranged on the frame body, a vertical guide rail perpendicular to the horizontal guide rail, and a sliding seat matched with the vertical guide rail; The fixed seat is connected to the sliding seat so that the manipulator can move along the extension direction of the horizontal guide rail and the vertical guide rail.

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